Worksheet: Right Face

Introduction to Mobile Robotics > Right Face

Follow the steps in the online directions, and answer the questions at the appropriate times.

Construct

Observations:

1. What happened when you ran the program? When we ran the program the robot did a right turn and then stopped. 2. Which motor(s) spun? Motor C spun. 3. What direction did each motor spin? Motor C spun right and Motor B did not move at all. 4. Did the robots body turn to its left or its right? The robots body turned to its right. 5. About how much did the robots body turn, relative to a full turn? The robots body turned 140 degrees. 6. This behaviour is called a swing turn. Around what point does the robot swing? The robot swinged at the starting point. Contemplate

7. Write a brief one or two sentence description of what each icon in the program Swing Turn does.

1st Block- The Motor C goes forward. 2nd Block- The Motor B stops. 3rd Block- The Motor C turns and goes forward. 4th Block- The Motor C stops. 5th Block- The Motor B stops.

8. The robot started at position A on the diagram shown here. It then turned in place until it reached position B.

i.

Suppose the robot turned to its left to reach position B. What fraction of a full turn did it make to get from A to B?

The robot turned from A to B.

ii.

Suppose the robot turned to its right to reach position B. What fraction of a full turn did it make to get from A to B?

The robot turned 1/3 from A to B. 9. Consider the effects of some additional factors. i. How do you think different wheels will affect the robots ability to turn? Does it matter?

I think that different wheels will affect the robot differently. For example plastic wheels wont have an effect on carpet. Yes it does matter because the robot might not move or do what we desire. ii. Does the surface on which the robot is turning matter? Yes the surface on which the robot is turning matters because certain materials of wheels might not move on certain surfaces. 10. The robot in the given program turned right by moving its left wheel forward while holding its right wheel stationary. i. Could you also turn right by holding the left wheel stationary and running the right wheel in reverse? Yes you can turn the robot right by holding the left wheel stationary and running the right wheel in reverse. However it will start from a different point. ii. Write the program to make the robot do the backward right turn proposed in part (i). This is done in the program. All we had to is change the wheels from going forwards to backwards.

Continue: Left Turn

Answer the following:

11. What program blocks are different between the left turn and original right turn behaviours? The program blocks are different as the arrow is pointing to the left in the left turn and the arrow is pointing to the right in the right turn. 12. Could a left turn also be done with the backward-moving wheel idea from question 10? Program your robot to make the backward-left turn. Yes the robot can also do a left turn with the backwards moving wheel. This is also done in the program.

Continue Point Turn

Answer the following:

13. Describe the difference between the motion of a swing turn and a point turn.

In the swing turn both wheels turn. However in the point turn only one wheel turns. 14. Describe a situation where: i. A swing turn is more useful than a point turn. A swing turn can be more useful when we are turning the robot in a open space. ii. A point turn is more useful than a swing turn. A point turn can be useful for when we are turning the robot in a tight space.